WO2019148943A1 - 适应于极稀软地质的可悬浮履带式特种水下作业机器人 - Google Patents

适应于极稀软地质的可悬浮履带式特种水下作业机器人 Download PDF

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Publication number
WO2019148943A1
WO2019148943A1 PCT/CN2018/116809 CN2018116809W WO2019148943A1 WO 2019148943 A1 WO2019148943 A1 WO 2019148943A1 CN 2018116809 W CN2018116809 W CN 2018116809W WO 2019148943 A1 WO2019148943 A1 WO 2019148943A1
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WO
WIPO (PCT)
Prior art keywords
crawler
water
special
robot according
underwater working
Prior art date
Application number
PCT/CN2018/116809
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English (en)
French (fr)
Inventor
肖龙飞
杨建民
赵国成
彭涛
唐雷
吕海宁
刘明月
寇雨丰
赵伟杰
Original Assignee
上海交通大学
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201810106189.0A external-priority patent/CN108382550A/zh
Priority claimed from CN201810527159.7A external-priority patent/CN108909860B/zh
Priority claimed from CN201811167706.1A external-priority patent/CN109291743B/zh
Application filed by 上海交通大学 filed Critical 上海交通大学
Publication of WO2019148943A1 publication Critical patent/WO2019148943A1/zh
Priority to US16/597,456 priority Critical patent/US11498378B2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/06—Endless track vehicles with tracks without ground wheels
    • B62D55/065—Multi-track vehicles, i.e. more than two tracks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60F—VEHICLES FOR USE BOTH ON RAIL AND ON ROAD; AMPHIBIOUS OR LIKE VEHICLES; CONVERTIBLE VEHICLES
    • B60F3/00—Amphibious vehicles, i.e. vehicles capable of travelling both on land and on water; Land vehicles capable of travelling under water
    • B60F3/0007—Arrangement of propulsion or steering means on amphibious vehicles
    • B60F3/0015—Arrangement of propulsion or steering means on amphibious vehicles comprising tracks specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/088—Endless track units; Parts thereof with means to exclude or remove foreign matter, e.g. sealing means, self-cleaning track links or sprockets, deflector plates or scrapers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/14—Arrangement, location, or adaptation of rollers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/24—Tracks of continuously flexible type, e.g. rubber belts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D55/00—Endless track vehicles
    • B62D55/08—Endless track units; Parts thereof
    • B62D55/18—Tracks
    • B62D55/24—Tracks of continuously flexible type, e.g. rubber belts
    • B62D55/253—Tracks of continuously flexible type, e.g. rubber belts having elements interconnected by one or more cables or like elements

Definitions

  • the invention relates to a crawler walking mechanism, in particular to a crawler walking structure and a robot device adapted to a very soft underwater underwater environment.
  • the prior art has a design in which a spur is provided on the crawler to increase the thrust.
  • the spurs mainly play the role of increasing the friction force, but the height of the spurs is generally low, and the effect is often poor, because the length of the spurs is short.
  • the effect of no mud the main reason is that it is easy to embed sludge between the thorns, and the lengthening of the thorns will make the sludge more difficult to remove.
  • the prior art also has the purpose of setting the spur angle to achieve gravity desilting, but The effect of de-sludge is always unsatisfactory; the underwater walking mechanism has higher requirements for the balance of grounding specific pressure, and the difficulty is relatively large.
  • the lateral width of the crawler belt is increased to increase the contact surface, stability, or by external construction. Increased ground contact area, but failed to solve the problem of increased frictional resistance.
  • the object of the present invention is to provide a special crawlable crawler type underwater working robot adapted to extremely soft and soft geology, which can improve the height of the spurt by raising the sludge between the spurs by setting the crawler water jet device.
  • the mud plucking effect of the spurs at the same time, the mud slab structure is set to divide the pressure, and the water jet device is arranged on the mud slab structure, and the water film formed by the lower part of the mud slab is used to reduce the mud slab structure and the ground when walking.
  • Frictional resistance at the same time, it provides a six-degree-of-freedom movement under water without the need to configure the mother ship for launching and recycling, effectively avoiding obstacles; achieving underwater large-angle shooting, detecting seabed topography, and finding suitable mining areas; The ability to clean up obstacles such as stones during operation in the mining area, improve the efficiency and quality of the mining, and adopt the multi-functional underwater robot device of the above-mentioned crawler walking structure.
  • a suspending crawler type special underwater working robot adapted to extremely soft geology comprising a running mechanism; the traveling mechanism is a crawler sled composite structure, and a mud slab structure is fixed on both sides of the crawler, the mud slab structure
  • the bottom is higher than the bottom of the track and has an arched head; the arched head is provided with a water jet device, the water jet device sprays water forward, and the arched head moves the water downward during the running of the traveling mechanism Pressed in, the pressed water and the spray water together form a "water film" at the bottom of the mud slab structure, reducing the sludge resistance.
  • the crawler belt is provided with an elongated spur
  • the crawler walking structure is fixedly disposed with a crawler water jet device aligned with the position between the adjacent spurs for flushing the sludge between the adjacent spurs .
  • the utility model further comprises a supporting beam and a power mechanism; the walking mechanism is arranged on both sides of the supporting beam; and the supporting beam is connected to the inner side panel of the crawler walking structure.
  • the mud board structure is fixedly connected to the inner side panel of the crawler walking structure, respectively.
  • the power mechanism is composed of a motor water seal box and an electric box.
  • the crawler structure comprises a rubber crawler, a spur, a roller, a drive gear, a guide wheel assembly, a track walking structure side panel, a crawler water jet device; a rubber crawler and a spur connection;
  • the support roller has a plurality of Uniform distribution, supporting the water-sealed box on the motor behind the beam, horizontally welding two track water jet devices.
  • the mud board structure has an arched head and an arched tail, and the side of the mud board has a baffle, and the water jet device is integrally mounted on the arched head.
  • the utility model further includes a collecting box, a buoyancy mechanism and a control mechanism, wherein the bottom of the crawler walking structure is provided with a running mechanism, the collecting box is disposed on the crawler walking structure, and the front part of the collecting box And a tail portion respectively provided with a working module for collecting minerals and transporting into the collecting box, the buoyancy mechanism comprising a plurality of buoyancy adjusting airbags, and the plurality of buoyancy adjusting airbags
  • the top of the collection box is laterally symmetrically distributed, and the control mechanism is coupled to the travel mechanism, the work module, the propulsion mechanism, and the buoyancy adjustment airbag, respectively.
  • the buoyancy adjusting airbag includes a balloon body and a diaphragm, the diaphragm is disposed at an inner intermediate position of the airbag body, and divides an inner cavity of the airbag body into a first cavity and a second cavity, A two-way air valve is disposed on the first cavity and the second cavity, and the two-way air valve is connected to the control mechanism.
  • the airbag body is made of a nylon material.
  • the operation module includes a subsea adaptive current collector, a water suction pipe and a plurality of inlet ports, and the plurality of the inlet ports are disposed at a front portion of the collection box, and the collection box In connection, the subsea adaptive current collector is connected to the inlet port via the suction pipe.
  • the inflow port is further provided with a telescopic adjustment mechanism, and the telescopic adjustment mechanism is connected to the suction pipe and is used for adjusting the telescopic length of the suction pipe.
  • the propulsion mechanism includes a propeller symmetrically disposed at two sides of the tail of the collection box, and the two propellers are also respectively connected to two of the driving motors, and the inside of the collection box is further provided with a filter. network.
  • the front part of the collection box is further provided with a horizontal platform, the horizontal platform is provided with a mechanical arm, the mechanical arm has six degrees of freedom, and the cantilever end of the mechanical arm is connected with a mechanical claw and / or camera.
  • the collection box is provided with a locator and an attitude sensor, and the attitude sensor comprises a three-axis gyroscope and a three-axis accelerometer.
  • the center of the robot chassis is in the shape of a small upper and a small bell mouth
  • the collecting box 2 has an annular structure
  • the annular structure has a columnar space.
  • the upper end of the columnar space is a water inlet
  • the lower end is a water outlet and a water inlet.
  • a propeller 8 is arranged at the place where the propeller can drive the water into the columnar space; under the columnar space, a slightly tilted baffle 1018 is fixedly disposed, and under the blocking action of the baffle 1018, the outlet of the water outlet is closely adhered to the chassis of small curvature. Flow out to form a film of water between the chassis and the mud.
  • the inner side wall of the annular collecting box 2 is the filter screen 21, and the collecting port 26 is disposed on the outer side wall.
  • the baffle 1018 When collecting, the water flowing out from the inner side wall is blocked by the baffle 1018, and the water flow The water film will be further adhered to the chassis with a small curvature to further strengthen the water film between the chassis and the sea mud.
  • baffle 1018 can be freely stretched to shield the water outlet from different degrees and adjust the direction of the water.
  • the collection port 26 is provided with a distance sensor, an image recognition sensor, and a flow tube connected to the collection port 26, and a flow meter is disposed in the collection tube.
  • the control system reads the geometric characteristics of the object to be aspirated through image recognition, and can recognize The object properties and categories are obtained, so that the size and volume of the absorbed objects are known, and the weight and buoyancy are calculated according to the identified object types. The minimum suction force is obtained according to the difference between the weight and the buoyancy; the control system is adjusted again.
  • the distance between the collecting pipe and the object to be pumped and the flow velocity of the water inside the collecting pipe thereby dynamically adjusting the suction force of the collecting pipe on the object to be aspirated under different working conditions, so that the suction force is close to the minimum required for the object Suction force.
  • a working method of the above robot apparatus comprises the following steps:
  • the driving motor After reaching the bottom of the sea, the driving motor is turned off, the propeller stops rotating, the traveling mechanism is started, and the crawler wheel device is used to continuously and stably advance the robot on the seabed;
  • the suction pipe and the seabed adaptive concentrator are placed at the designated position, and the driving motor is started to make the pump rotate at a high speed to form a strong suction force, and the mineral is sucked into the collecting box;
  • the propeller in the object box rotates at a high speed
  • the water in the collecting box can be continuously discharged outward, the pressure inside the box is lowered, and the external water flows into the collecting box from the collecting tube.
  • the effect of the rotation of the propeller in the collection box can be regarded as a water pump with a storage function.
  • the slurry pump transports the minerals to the relay bin to complete a work cycle or close the operating system.
  • the step S2 specifically includes: opening the two-way air valve intake, so that the volume of the airbag body can maintain a constant value, ensuring that the robot device can continue to dive, the speed of the dive is determined by the locator, and according to the attitude sensor The pitch and heel angles of the reaction are appropriately added to the buoyancy to adjust the intake air volume of the airbag, so that the robot device returns to the positive floating state.
  • a water jet device is provided to spray water to the bottom of the plate. According to the Coanda effect, a "water film” is formed, which greatly reduces the traveling resistance.
  • long spurs can be set, and large depths can be inserted into the bottom sediment to generate greater driving force, reduce crushing, prevent slipping, and improve transportation capacity.
  • the premise is to cooperate with the scouring of the track water jet device. Will cause sludge fouling between adjacent spurs;
  • a water jet device is installed at the tail to wash away the dirt and other deposits adsorbed on the tooth plate to prevent the driving force of the crawler belt due to the accumulation of deposits from decreasing and increasing the weight.
  • the baffle structure is provided with baffles on both sides of the structure, and the side panels in the crawler device. Prevents dirt and attachments from getting caught in the track drive, improving device reliability.
  • the buoyancy adjusting airbag constitutes a buoyancy mechanism, which can change the air intake of the buoyancy mechanism by controlling the opening and closing of the two-way air valve, thereby obtaining different buoyancy, so that the robot can float or suspend in the water; and the traditional sea bottom Compared with the mining equipment, the invention does not need to be equipped with the mother ship for loading and recycling before and after the work, shortening the working time and the task period, and greatly reducing the human and material cost.
  • buoyancy adjustment airbag obtains different buoyancy in the lateral direction and the longitudinal direction, thereby realizing the roll and pitch motion of the underwater robot, thereby enabling the present invention to realize the underwater six-degree-of-freedom motion. It can more flexibly and effectively avoid obstacles and reduce collision and wear.
  • the speed of the two propellers is controlled by two driving motors.
  • the propeller In the suspended or floating state, the propeller can realize the forward and steering functions by forward rotation, reverse rotation or differential rotation, and can be more flexible when working underwater. Respond to seabed topography and environmental loads.
  • a robotic arm with six degrees of freedom is installed, which can work in any position under water at any position.
  • the front part of the robot arm is equipped with a mechanical claw/camera, which can be replaced in real time according to the actual operation requirements, to achieve underwater all-round, large-angle shooting, and also to clear obstacles, so that the subsea adaptive concentrator can efficiently extract ore, under the seabed. If you encounter a malfunction during work, you can repair it yourself.
  • FIG. 1 is a perspective view of a chassis of an underwater working robot of the first embodiment.
  • FIG 2 is a plan view of a chassis of the underwater working robot of the first embodiment.
  • Fig. 3 is a perspective view of the chassis of the underwater working robot of the first embodiment from another perspective.
  • Figure 4 is a schematic view of the underwater working robot of the first embodiment
  • Figure 5 is a schematic view showing another perspective of the underwater working robot of the first embodiment
  • Fig. 6 is a schematic structural view of a buoyancy mechanism of the underwater working robot of the first embodiment.
  • Figure 7 is a plan view of the underwater working robot of the second embodiment.
  • Figure 8 is a perspective view of the underwater working robot of the second embodiment.
  • Figure 9 is a front elevational view of the second embodiment of the underwater working robot.
  • Figure 10 is a bottom plan view of the underwater working robot of the second embodiment.
  • FIG. 11 is a schematic structural view of a collection box of the underwater working robot of the second embodiment.
  • Figure 12 is a cross-sectional view of the underwater working robot of the second embodiment in a left side view.
  • Guide wheel assembly 1011. Tracked walker side panel, 1012.
  • Track water jet device 1013. Arched head, 1014.
  • Baffle 1015. Plate water jet device, 1016.
  • Motor water seal box 1017 Electrical box, 1018. baffle, 1019. horn-shaped water jet nozzle; 2. water tank, 9. watertight power distribution box, 10. camera, 21. filter, 26. collection port, 27. water inlet, 28. Outlet.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • the track application adapted to the extremely soft underwater ground environment travels under the conditions of the seabed and other soft geology.
  • To track sled track comprising the following parts: rubber track 106, 107 grouser, supporting wheels 108, drive gear 109, the guide wheel assembly 1010, a crawler track structure of the side panel 1011 ,, 1012 waterjet apparatus like structure.
  • the rubber crawler 106 is composed of a track shoe, a track pin, and the like.
  • the track pin connects the track shoes to form a track link.
  • the track shoes have holes at both ends, which are engaged with the driving wheel, and have inducing teeth in the middle to correct the track and prevent the track from falling off when the device is steered or tilted, thereby improving the stability of the device.
  • the shank 107 is fixed under the rubber crawler, and has a longer length than the ordinary spur, and its structural strength and the like are strengthened. Therefore, the crawler traveling device is more adapted to the soft geological conditions of the sea floor, and the depth of entering the sediment is increased, which can provide greater driving force and higher driving efficiency.
  • the water jet device 1012 is welded to two sides of the tail of the motor water seal box 1016, and two high-speed water jets flow through the root of the spur, which has a good scouring effect on the sediment adsorbed on the spur surface. Due to the scouring of the water jet device, a long spur can be set in the crawler structure, and a large depth is inserted into the bottom sediment to generate a larger driving force, reduce the depression, prevent slippage, and improve the transport capacity.
  • the roller 108 is located above the rubber track and engages the inner surface of the rubber track to withstand the weight of the tank and the track. It consists of a hub, a wheel, a tape, a ball bearing, an axle cover, a fixing nut and the like.
  • the device has a plurality of supporting rollers, so that the weight shared on each of the loading wheels is small, the pressure distribution on the track is more uniform, and the passing ability and maneuverability of the device are improved.
  • the drive gear 109 is located at the upper end of the track front end and is composed of a hub, a ring gear, a toothed washer, a bevel cup, a fixed nut and a stop bolt. It engages the gears and the track to transmit the power from the side reducer to the track to move the device.
  • the guide wheel assembly 1010 is located outside the tail of the track for inducing and supporting the track and, together with the track adjuster, adjusts the tightness of the track. It consists of a hub, a wheel, a ball bearing, an axle cover, a fixed nut, a double row ball bearing, a support cup and the like.
  • the track walking structure side panel 1011 is located on both sides of the crawler belt, and a supporting beam is connected to the bottom mud rocker structure 105.
  • the side panels prevent external objects from entering the interior of the track structure, and the side panels simultaneously serve to secure multiple rollers within the track, keeping the relative position between them constant and improving travel stability.
  • the contact area of the slime is larger, which increases the lifting force of the slime environment to the mud board and can withstand greater load.
  • a baffle 1014 is provided on both sides and the front portion of the mud slab structure 105 to prevent splashing of mud.
  • the arched head 1013 is provided with a plate water jet 1015 for injecting a stream of high pressure water along the bottom of the arched head 1013.
  • a plate water jet 1015 for injecting a stream of high pressure water along the bottom of the arched head 1013.
  • the water flows into the bottom of the mud slab structure 105 along the bottom of the arched head 1013, forming a "water film" at the bottom of the mud slab, which isolates the mud slab and the mud ground.
  • the frictional resistance between the sludge and the mud slab is reduced, and the water jet flow rate can be dynamically adjusted with the advance speed of the crawler walking structure.
  • the basic idea of the robotic device is to improve the efficiency of seabed mining by integrating and coordinating the functions of the buoyancy mechanism, the operating module, the seabed adaptive concentrator, and the robotic arm according to the characteristics of the seabed mining operation. Improve the ability to cope with complex seabed topography, ocean current loads and operating conditions.
  • the multifunctional underwater robot apparatus of the present invention comprises a crawler running mechanism 1, a collecting box 2, a buoyancy mechanism 3 and a control mechanism 4.
  • the bottom of the crawler running mechanism 1 is provided with a running mechanism 5,
  • the collecting box 2 is disposed on the crawler running mechanism 1, and the front part and the tail part of the collecting box 2 are respectively provided with a working module 6 and a pushing mechanism 7, and the working module 6 is used for collecting minerals and conveying to the collecting box 2, buoyancy
  • the mechanism 3 includes a plurality of buoyancy adjusting airbags, the plurality of buoyancy adjusting airbags are symmetrically distributed laterally along the top of the collecting box 2, and the control mechanism 4 is coupled to the traveling mechanism 5, the working module 6, the propulsion mechanism 7, and the buoyancy adjusting airbag, respectively.
  • the traveling mechanism 5 in the present invention may be a crawler wheel device, and the crawler wheel device can stably move to resist the interference of environmental loads such as ocean currents, and the rotation speed and the rotation direction of the two crawler drive motors can also realize the forward, backward and steering functions of the robot. .
  • the buoyancy adjusting airbag includes an airbag body 31 and a diaphragm 32.
  • the diaphragm 32 is disposed at an inner intermediate position of the airbag body 31, and divides the inner cavity of the airbag body 31 into the first cavity 33 and the second cavity 34, A cavity 33 and a second cavity 34 are provided with a two-way air valve 35, and the two-way air valve 35 is connected to the control mechanism 4.
  • the airbag body 31 is made of a nylon material, and has the characteristics of good deformation performance and high tensile strength, and can have a large deformation during work to generate buoyancy, and deformation occurs in a deep sea high pressure environment. Hard to break.
  • the buoyancy adjusting airbag functions as follows: 1) providing a suspension and floating function for the submarine collecting robot. 2) Guarantee robot posture adjustment and underwater six-degree-of-freedom movement.
  • the control mechanism 4 controls the opening and closing of the two-way air valve 35 to control the amount of compressed air in the airbag body 31, thereby obtaining different buoyancy, so that the robot obtains the suspension capability; meanwhile, the air intake of the left and right airbag bodies 31 is changed.
  • the amount of air intake, or the amount of intake air in the first cavity 33 and the second cavity 34 in the same airbag body 31 can also achieve underwater attitude adjustment and six degrees of freedom motion.
  • the working module 6 includes a subsea adaptive concentrator (not shown), a suction pipe 61 and a plurality of inlet ports 62, and a plurality of inlet ports 62 are disposed at the front of the collection box 2, and
  • the collecting box 2 is connected to each other, and the subsea adaptive collecting device is connected to the ore inlet 62 via the suction pipe 61.
  • the inlet port 62 is further provided with a telescopic adjustment mechanism, and the telescopic adjustment mechanism is connected to the suction pipe 61, and is used for adjusting the telescopic length of the suction pipe 61.
  • the telescopic adjustment mechanism of the present invention can accurately deliver the adaptive concentrator to a designated position to prevent entanglement of the suction pipe 61.
  • the telescopic adjustment mechanism may be a mechanism that conventionally controls the telescopic length in the prior art such as a return spring.
  • the propulsion mechanism 7 includes a propeller 71 symmetrically disposed on both sides of the tail of the collection box 2, and the two propellers 71 are also connected to the two drive motors 72, respectively.
  • the function of the working module 6 and the propulsion mechanism 7 of the present invention is as follows: 1) The propulsion mechanism 7 provides power for the movement of the robot and provides suction for the ore collection and suction of the working module 6. 2)
  • the operating module 6 is used to store ore collected from a subsea adaptive current collector. 3), the suction pipe 61 can be disassembled according to the actual operation demand, directly sucking the required ore into the collection box 2 or inverting the propeller 71 to discharge the sewage.
  • the inner tank 2 was set filter 21 is also provided.
  • Filter 21 can be prevented from entering the ore collector tank 2 was 71 aft propeller damage; by changing the type and number of screen mesh material 2, can be realized different types of ore or other acquisition of seabed resources.
  • the front part of the collection box 2 is further provided with a horizontal platform 22, and the horizontal platform 22 is provided with a mechanical arm 23 having six degrees of freedom, and the cantilever end of the robot arm 23 is connected with a mechanical claw and/or camera.
  • the function of the robot arm 23 is as follows: 1) Holding the camera and performing omnidirectional, large-angle underwater photography. 2) Clear the obstacles by mechanical claws.
  • the collection box 2 is provided with a locator 24 and an attitude sensor 25, and the locator 24 can respond to the control mechanism 4 in real time with the position and movement speed of the robot;
  • the attitude sensor 25 has a built-in three-axis gyroscope and a three-axis accelerometer. The robot's motion attitude, acceleration and angular acceleration can be reflected in time.
  • the two-way air valve 35 of all the buoyancy adjusting airbags is opened to the air, so that the buoyancy of the robot device is slightly smaller than the gravity; the robot can dive at a small speed.
  • the driving motor After reaching the bottom of the sea, the driving motor is turned off, the propeller stops rotating, the traveling mechanism is started, and the crawler wheel device is used to continuously and stably advance the robot on the seabed;
  • the suction pipe 61 and the sea bottom adaptive concentrator are placed at the designated position, and the driving motor 72 is started to rotate the propeller 71 at a high speed to form a strong suction force, and the mineral is sucked into the collecting box 2
  • the suction pipe 61 can be disassembled before work, and the object to be collected is directly held by the robot during work, placed near the inlet 62, and then the machine is released. The claws cause the mineral to be sucked into the collection box 2.
  • the slurry pump transports the minerals to the relay bin to complete a work cycle or close the operating system.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the traveling mechanism in this embodiment is different from the first embodiment in that the crawler belts on the left and right sides of the robot are respectively divided into two units.
  • This embodiment has the same design and structure as the first embodiment, and can implement all the functions of the first embodiment. On this basis, this embodiment also has an additional design, which is specifically described as follows:
  • the center of the robot chassis is in the shape of a small upper and a small bell mouth, and the collecting box 2 has an annular structure, and the annular structure has a columnar space.
  • the upper end of the columnar space is a water inlet, and the lower end is a water inlet.
  • the water outlet is provided with a propeller 8 at the water inlet, and the propeller can drive the water into the columnar space; the baffle 1018 slightly fixed above the columnar space is fixed, and under the blocking action of the baffle 1018, the water outlet direction of the water outlet will be closely attached.
  • the chassis with a small curvature flows out, forming a water film between the chassis and the sea mud.
  • the chassis can withstand pressure, reduce the depression, and greatly reduce the resistance to travel.
  • the method of “adding a mud slab structure on both sides of the crawler belt” further utilizes the wall-attaching effect of the water flow, and the so-called “attachment effect” refers to: fluid (water flow or air flow).
  • fluid water flow or air flow
  • the fluid will flow along the surface of the object.
  • simplifying the robot structure reducing the width of the robot to make it structurally strong and easier to pass through a narrow area.
  • the water discharged from the collection box is used to form a stable water film on the surface of the bell mud board.
  • the above design is an ingenious design to optimize the system energy consumption.
  • Propeller 8 has multiple functions and design considerations of "one paddle multi-purpose":
  • the propeller can provide the robot with multi-directional thrust to make it loose from the soft mud;
  • the propeller arranged in the center of the robot can not only provide vertical lift, but also because it is arranged in the center of the collection box, it can act as a water pump in the collection box, and the negative pressure generated by the water flow can continuously collect the objects.
  • the water in the tank is discharged to the outside of the tank, thereby providing auxiliary suction force for the inlet end of the collecting pipe to assist in pumping underwater sea cucumbers, ore particles, various specimens and the like. It simplifies robot construction and manufacturing costs.
  • a filter is arranged in the collection box to isolate the suctioned material from the catheter propeller. Protecting the paddle also protects the collected objects.
  • the inner side wall of the annular collecting box 2 is a screen 21, and the collecting port 26 is disposed on the outer side wall.
  • the water flowing out from the inner side wall is blocked. Under the blocking action of the plate 1018, the water flow will flow out against the chassis of small curvature, thereby further reinforcing the water film between the chassis and the sea mud.
  • the baffle 1018 can be freely opened and closed to cover the water outlet and adjust the water outlet direction to different extents, so that it can be used in the robot chassis and even under different tank drain conditions.
  • the water flow rate of the water jet between the sea muds is kept stable, so that the formation quality of the water film is stabilized.
  • the collection port 26 is provided with a distance sensor, an image recognition sensor, and a collection tube connected to the collection port 26, and a flow meter is disposed in the collection tube.
  • the control system reads the geometric features of the object to be aspirated through image recognition.
  • the object properties and categories can be identified, so as to know the size and volume of the absorbed object, calculate the weight and buoyancy according to the identified object type, and know the minimum suction force according to the difference between the weight and the buoyancy;
  • the suction force of the collecting pipe on the object to be sucked under different working conditions is dynamically adjusted, so that the suction force is close to the required position of the object.
  • the object to be aspirated can be sucked into the collection box to achieve precise suction.
  • Such an optimized control method can not only greatly reduce the energy consumption and disturbance to the underwater environment, but also ensure the collection rate of the absorbed objects, and provide advanced technical support for the realization of the suction force prediction and precise environmental protection operations in the underwater complex environment. . This function is not shown in the drawings.
  • the applicant carried out experiments according to the above methods and realized Accurate prediction of suction force under different working conditions.
  • the specific method is: using a ball to simulate the collected object, a powerful sensor at the lower end of the ball, constantly changing the diameter of the ball, the diameter of the collecting tube, the relative geometric position between the collecting tube and the ball, establishing the suction force and The mapping relationship between these geometric parameters, so as to obtain a prediction formula of the suction force that can be used to predict the suction force in real time.
  • the formula can provide support for the intelligent and accurate operation of the bottom of the robot, and is used as an important regulation basis for the robot to optimize the flow velocity in the collecting pipe and the relative position between the collecting pipe and the ball.

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Abstract

一种适应于极稀软地质的可悬浮履带式特种水下作业机器人，包括行走机构(103)；行走机构(103)是履带泥橇复合式结构，履带(106)两侧固定设有泥橇板结构(105)，泥橇板结构(105)底部高于履带(106)底部并具有拱形板头(1013)；拱形板头(1013)设有板水射流装置(1015)，板水射流装置(1015)向前喷射水，行走机构(103)行进过程中，拱形板头(1013)将水向下压入，被压入的水与喷射水共同在泥橇板结构(1015)底部形成"水膜"，减小行进阻力，可实现在极稀软地质中的稳定行进。还设计有推进机构、浮力调整装置、作业模块等部分，可实现水下机器人在海底自主行进和水中悬浮、故障自修复、精细化作业等多种功能。

Description

适应于极稀软地质的可悬浮履带式特种水下作业机器人 技术领域
本发明涉及一种履带行走机构，具体涉及一种适应于极稀软水下地面环境的履带行走结构及机器人装置。
背景技术
现有技术有在履带上设置履刺进而增加推力的设计，其履刺主要起到增加摩擦力的作用，但是履刺的高度普遍较低，效果往往不佳，因为履刺的长度较短，无拨泥的效果，究其原因，主要是履刺之间容易嵌入污泥，履刺加长会导致污泥更加难以去除，现有技术也有通过设置履刺角度来达到重力脱泥的目的，但是，脱泥的效果始终不如人意；水下行走机构对于接地比压的平衡的要求也比较高，难度比较大，一般通过增大履带的横向宽度来增大接触面、稳定性，或通过外加构建增加接地面积，但是未能解决摩擦阻力增大的问题。
此外，现有的海底集矿设备存在以下缺点：
1)不具备悬浮、漂浮能力，工作时需要额外配置母船进行投放与回收，成本较高，效率低下。
2)只能进行贴底作业，由于只配有履带机构而没有浮力设备，在工作时只能依靠履带等设备在海底进行三自由度运动。遇到陡坡等海底地形时需要强大的功率才能行进，容易烧坏主机，降低系统的可靠性。遇到复杂多变的海底地形时不能自由地调整姿态，易触碰障碍物，对集矿设备造成一定的损坏。
3)水下拍摄困难。由于现有的海底集矿设备结构笨重，若要对海底环 境进行详细的、全方位多角度的拍摄，需要安装多个水下摄像头，对海底集矿设备结构布局有着很高的要求，也加大了设备设计时的难度，提高了人力物力的投入。
4)由于没有配备机械手臂，因此无法清理障碍物，只能吸取平坦海底的矿石，当有石块或者其他杂物压在待吸取物上时必须选择放弃作业，强行作业易损伤集矿头。
发明内容
本发明的目的是：提供一种适应于极稀软地质的可悬浮履带式特种水下作业机器人，通过设置履带水射流装置清楚履刺之间的污泥，从而可以提高履刺的高度，提升履刺的拨泥效果；同时设置泥橇板结构进行分压，在泥橇板结构上设置板水射流装置，通过泥橇板下部形成的水膜，来减小行走时泥橇板结构与地面的摩擦阻力；同时提供一种无需配置母船进行投放和回收，能够在水下实现六自由度运动，有效地避开障碍物；实现水下大角度拍摄，探测海底地形，寻找合适的矿区；具备在矿区作业时清理石块等障碍物的能力，提高吸矿的效率和质量，并采用上述履带行走结构的多功能水下机器人装置。
本发明采取以下技术方案：
一种适应于极稀软地质的可悬浮履带式特种水下作业机器人，包括行走机构；所述行走机构是履带泥橇复合式结构，履带两侧固定设有泥橇板结构，泥橇板结构底部高于履带底部并具有拱形板头；所述拱形板头设有板水射流装置，所述板水射流装置向前喷射水，行走机构行进过程中，拱形板头将水向下压入，被压入的水与喷射水共同在泥橇板结构底部形成“水膜”，减小淤泥阻力。
进一步的，所述履带上设有加长的履刺，所述履带行走结构上固定设置对准相邻履刺之间部位的履带水射流装置，用于冲去相邻履刺之间的污泥。
进一步的，还包括支撑横梁、动力机构；支撑横梁两侧设置所述行走机构；支撑横梁连接于履带行走结构内侧面板上。
更进一步的，泥橇板结构分别与履带行走结构内侧面板固定连接。
进一步的，所述动力机构由电机水密封箱和电气箱构成。
进一步的，履带结构包括橡胶履带、履刺、支重轮、驱动齿轮、导向轮总成、履带行走结构侧面板、履带水射流装置；橡胶履带与履刺连接；支重轮具有多个，且均匀分布，支撑横梁后方电机水密封箱上，水平焊接两个履带水射流装置。
进一步的，泥橇板结构具有拱形板头、拱形板尾，泥橇板结构侧面具有挡板，板水射流装置集成安装在拱形板头上。
进一步的，还包括集物箱、浮力机构和控制机构，所述履带行走结构的底部设有行走机构，所述集物箱设置在所述履带行走结构上，且所述集物箱的前部和尾部分别设有作业模块和推进机构，所述作业模块用于采集矿物并输送至所述集物箱中，所述浮力机构包括多个浮力调整气囊，多个所述浮力调整气囊沿所述集物箱的顶部横向对称分布，以及所述控制机构分别与所述行走机构、作业模块、推进机构和浮力调整气囊相连接。
进一步的，所述浮力调整气囊包括气囊本体和隔膜，所述隔膜设置在所述气囊本体的内部中间位置处，且将所述气囊本体的内腔分割成第一腔体和第二腔体，所述第一腔体和第二腔体上均设有双向气阀，所述双向气阀与所述控制机构相连接。
更进一步的，所述气囊本体采用尼龙材料制作而成。
再进一步的，所述作业模块包括海底适应性集矿器、吸水管和多个进矿口，多个所述进矿口设置在所述集物箱的前部，且与所述集物箱相连通，所述海底适应性集矿器经所述吸水管与所述进矿口相连接。
进一步的，所述进矿口上还设有伸缩调节机构，所述伸缩调节机构与所述吸水管相连接，且用于调节所述吸水管的伸缩长度。
进一步的，所述推进机构包括对称设置在所述集物箱尾部两侧的螺旋桨，两个所述螺旋桨还分别与两个所述驱动电机相连接，所述集物箱的内部还设有滤网。
进一步的，所述集物箱的前部还设有水平平台，所述水平平台上设有机械手臂，所述机械手臂具有六个自由度，且所述机械手臂的悬臂端连接有机械爪和/或照相机。
进一步的，所述集物箱上装有定位仪以及姿态传感器，所述姿态传感器包括三轴陀螺仪和三轴加速度计。
进一步的，所述机器人底盘中心为下大上小的喇叭口形状，集物箱2呈环状结构，环状结构内有柱状空间，柱状空间的上端为进水口，下端为出水口，进水口处设置螺旋桨8，螺旋桨可将水流打入柱状空间内；柱状空间的下方固定设置略微翘起的挡板1018，在挡板1018的阻挡作用下，出水口出水方向会紧贴着小曲率的底盘流出，从而在底盘和海泥之间形成一层水膜。
更进一步的，呈环状的集物箱2内侧壁为滤网21，集物口26设于外侧壁上，集物时，自内侧壁流出的水，在挡板1018的阻挡作用下，水流会紧贴着小曲率的底盘流出，从而在底盘和海泥之间进一步加强所述水膜。
更进一步的，挡板1018可自由拉伸，从而不同程度遮挡出水口和调节出水方向。
更进一步的，集物口26设有距离传感器、图像识别传感器、与集物口26连接的集物管内安置有流量计，控制系统通过图像识别后读取被抽吸物体的几何特征，可以识别出其物体属性和类别，从而获知被吸取物的大小、体积，根据识别得到的物体类别，计算出其重量和浮力，根据重量和浮力的差值，获知最小抽吸力；控制系统再通过调节集物管与被抽吸物体的距离以及集物管内部水流流速，进而动态调整不同工况下集物管对被抽吸物的抽吸力，使抽吸力接近物体所需的所述最小抽吸力。
一种上述机器人装置的工作方法，包括以下步骤：
S1、将所有浮力调整气囊的双向气阀打开进气，使机器人装置的浮力略小于重力；
S2、调整机器人装置的下潜速度和姿态；
S3、启动螺旋桨，通过控制螺旋桨71的正转、反转或是差速转动，实现机器人装置的前进、后退以及转向，直到到达指定海底矿区；
S4、到达海底后，驱动电机关闭，螺旋桨停止转动，启动行走机构，利用履带轮装置使机器人在海床能够连续、稳定地前进；
S5、启动机械手臂，控制机械爪把覆盖在矿石上的石块等杂物夹起放于指定位置；
S6、矿区杂物清理完毕后，将吸水管与海底适应性集矿器投放到指定位置，启动驱动电机，使泵高速旋转形成强大的抽吸力，将矿物吸入集物箱内；布置在集物箱内的螺旋桨高速转动时，可以源源不断地将集物箱内的水向外排出，箱内压强降低，外部的水便会从集物管流入集物箱内。而此时，集物箱内螺旋桨转动的效果可以看做是一个具有储物功能的水泵。
S7、矿浆泵将矿物输送至中继仓，完成一个工作循环或关闭作业系统上潜。
进一步的，所述步骤S2具体包括：打开双向气阀进气，使得气囊本体的体积能够保持一个定值，确保机器人装置能够持续下潜，下潜的速度由定位仪来确定，以及根据姿态传感器反应的纵倾与横倾角度适当加大部分浮力调整气囊的进气量，让机器人装置重回正浮状态。
本发明的有益效果在于：
关于履带行走机构方面:
1)泥橇板结构中，设置水射流装置，向板底喷射水流。根据附壁效应，形成一层“水膜”，可大大减小行进阻力。
2)采用履带-泥橇板复合结构，极好适应海底环境；
3)履带结构中可以设置长履刺，大深度插入底层沉积物中，产生更大的驱动力、减小压陷、防止打滑，提高运输能力，其前提是配合履带水射流装置的冲刷，不会造成相邻履刺之间的污泥积垢；
4)履带结构中，尾部安装水射流装置，冲洗掉吸附在齿板上的泥土及其他附着物，防止因附着物堆积产生的履带的驱动力减小和重量增大。
5)使用泥橇板结构，增大了接地面积，降低接地比压，提升平衡性能，提高行走中稳定性；
6)泥翘板结构两侧设置挡板，履带装置中的侧面板。防止泥土及附着物卷入履带传动装置中，提高了装置可靠性。
关于机器人装置方面：
1)采用了浮力调整气囊构成了浮力机构，可以通过控制双向气阀的开启关闭改变浮力机构的进气量，从而获得不同的浮力，使得机器人能够在水中漂浮或是悬浮作业；与传统的海底集矿设备相比，本发明在工作前后无需配饰母船进行投放与回收，缩短了作业时间与任务周期，大大降低了人力物力成本。
2)浮力调整气囊的数量有多个，且沿集物箱的顶部横向对称分布，而且浮力调整气囊的内部中间设有隔膜，将浮力调整气囊平均分为第一腔体和第二腔体，通过横向或者纵向进气量的差异，浮力调整气囊在横向以及纵向获得大小不同的浮力，从而实现水下机器人的横摇与纵摇运动，从而使本发明能够实现水下六自由度的运动，能够更加灵活有效地避开障碍物，减小碰撞与磨损。
3)通过两个驱动电机分别控制两个螺旋桨的转速，在悬浮或是漂浮状态下，螺旋桨通过正转、反转或是差速转动实现前进以及转向功能，在水下工作时能够更加灵活地应对海底地形、环境载荷。
4)利用螺旋桨高速转动形成强大的抽吸力将矿物通过海底适应性集矿器吸出，且抽吸力可以通过调整螺旋桨转速来控制，该设计将动力装置与工作装置结合为一体，无需额外的工作泵吸取矿物，大大地减小了本发明的重量，也使得该海底集矿机器人较传统集矿设备能够存储运输更多的矿石。
5)安装了具有六个自由度的机械手臂，能够在水下在任意位置以任意姿态进行工作。机械手臂前段安装有机械爪/或照相机，其能根据实际作业需求实时更换，实现水下全方位、大角度拍摄，也可以清理障碍物，以便海底适应性集矿器高效的吸取矿石，在海底作业时碰到故障也能自行维修。
附图说明
图1是实施例一的水下作业机器人的底盘的立体图。
图2是实施例一的水下作业机器人的底盘的俯视图。
图3是实施例一的水下作业机器人的底盘的另一视角下的立体图。
图4是实施例一的水下作业机器人的示意图；
图5是实施例一的水下作业机器人的另一视角的示意图；
图6是实施例一的水下作业机器人的浮力机构的结构示意图。
图7是实施例二水下作业机器人的俯视图。
图8是实施例二水下作业机器人的立体图。
图9是实施例二水下作业机器人的前视图。
图10是实施例二水下作业机器人的仰视图。
图11是实施例二水下作业机器人的集物箱的结构示意图。
图12是实施例二水下作业机器人左视视角下的剖视图。
图中，101.支撑横梁，102.动力机构，103.行走机构，104.履带装置，105.泥橇板结构，106.橡胶履带，107.履刺，108.支重轮，109.驱动齿轮，1010.导向轮总成，1011.履带行走结构侧面板，1012.履带水射流装置，1013.拱形板头，1014.挡板，1015.板水射流装置，1016.电机水密封箱，1017.电器箱，1018.挡板，1019.喇叭状水射流喷口；2.水箱，9.水密配电盒，10.摄像头，21.滤网，26.集物口，27.进水口，28.出水口。
具体实施方式
下面结合附图和具体实施例对本发明进一步说明。
实施例一：
本实施例中，参见图1-3，适应于极稀软水下地面环境的履带应用在海底及其他稀软地质的状态下行进。履带为雪橇式履带，包括以下几部分：橡胶履带106，履刺107，支重轮108，驱动齿轮109，导向轮总成1010，履带行走结构侧面板1011，,履带水射流装置1012等结构。
所述橡胶履带106由履带板和履带销等组成。履带销将各履带板连接起 来构成履带链环。履带板的两端有孔，与主动轮啮合，中部有诱导齿，用来规正履带，并防止装置转向或侧倾行驶时履带脱落，提高了装置行进的稳定性。
所述履刺107固定于橡胶履带下方，较普通履刺其长度有较大加长，其结构强度等性能均有所加强。从而使履带行进装置更加适应海底松软的地质条件，增加其进入底泥的深度，能提供更大的驱动力和更高的驱动效率。
所述水射流装置1012焊接于电机水密封箱1016尾部两侧，共两个，其产生的高速水射流恰好流经履刺根部，对吸附在履刺表面的底泥有较好的冲刷效果，由于水射流装置的冲刷，进而履带结构中可以设置长履刺，大深度插入底层沉积物中，产生更大的驱动力、减小压陷、防止打滑，提高运输能力。
所述支重轮108位于橡胶履带上方，并与橡胶履带内表面啮合，用来承受坦克的重量和规正履带。它由轮毂、轮盘、胶带、滚珠轴承、轮轴盖、固定螺母等组成。该装置通过设置较多的支重轮，使每个负重轮上分担的重力较小，履带上压力分布更加均匀，提高装置的通过能力和机动性能。
所述驱动齿轮109位于履带前端上部，它由轮毂、齿圈、带齿垫圈、锥齿杯、固定螺帽和止动螺栓组成。它通过齿轮和履带啮合,将侧减速器传来的动力传给履带而使装置运动。
所述导向轮总成1010位于履带尾部外侧，用来诱导和支撑履带,并与履带调整器一起调整履带的松紧程度。它由轮毂、轮盘、滚珠轴承、轮轴盖、固定螺帽、双排滚珠轴承、支撑杯等组成。
所述履带行走结构侧面板1011位于履带两侧，上有支撑横梁连接于底部泥翘板结构105。侧面板可以防止外部物体进入履带结构内部，侧面板同时用于固定履带内的多个支重轮，使他们之间的相对位置保持不变，提高 行进稳定性。
具有拱形板头板1013、拱形尾板的泥橇板结构105，与同类平底泥橇板和无泥橇板的装置相比，使得本装置在软泥环境中有相同下陷程度时，与软泥的接触面积更大，从而增加了软泥环境对泥橇板向上的托举力，可以承受更大的荷重。泥橇板结构105两侧和前部设置挡板1014，防止稀泥溅入。
拱形板头1013设有板水射流装置1015，可沿着拱形板头1013底部喷射高压水流。整个装置在行进过程中，由于附壁效应，水流沿着拱形板头1013底部流入泥橇板结构105底部，在泥橇板底部形成一层“水膜”，隔离了泥橇板与淤泥地面，从而减小淤泥与泥橇板之间的摩擦阻力，且水射流流量可随履带行走结构前进速度动态调整。
机器人装置的基本构思在于：根据海底集矿作业的特点，通过将浮力机构、作业模块、海底适应性集矿器以及机械手臂等系统的多功能化集成以及协同作业，提高海底采矿的效率，并且提高应对复杂的海底地形、洋流载荷与作业工况的能力。
参阅图4-6所示，本发明的多功能水下机器人装置，其包括履带行走机构1、集物箱2、浮力机构3和控制机构4，履带行走机构1的底部设有行走机构5，集物箱2设置在履带行走机构1上，且集物箱2的前部和尾部分别设有作业模块6和推进机构7，作业模块6用于采集矿物并输送至集物箱2中，浮力机构3包括多个浮力调整气囊，多个浮力调整气囊沿集物箱2的顶部横向对称分布，以及控制机构4分别与行走机构5、作业模块6、推进机构7和浮力调整气囊相连接。本发明中的行走机构5可以为履带轮装置，履带轮装置能够稳定运动，抵抗洋流等环境载荷的干扰，改变两个履带驱动电机的转速和旋转方向还可以实现机器人的前进，后退以及转向功能。
具体地，浮力调整气囊包括气囊本体31和隔膜32，隔膜32设置在气囊 本体31的内部中间位置处，且将气囊本体31的内腔分割成第一腔体33和第二腔体34，第一腔体33和第二腔体34上均设有双向气阀35，双向气阀35与控制机构4相连接。本实施例中，气囊本体31采用尼龙材料制作而成，其具有变形性能好、抗拉强度高的特点，在工作时能够有较大的形变从而产生浮力，在深海高压的环境下产生形变也难以破裂。
本发明中，浮力调整气囊作用如下：1)、为海底集矿机器人提供悬浮、漂浮功能。2)、保障机器人姿态调整以及水下六自由度运动。具体地，工作时，通过控制机构4控制双向气阀35的开闭来控制气囊本体31中压缩空气的量，从而获得不同浮力，使得机器人获得悬浮能力；同时，改变左右气囊本体31的进气量，或改变同一气囊本体31中第一腔体33和第二腔体34中的进气量，也可实现水下姿态调整以及六自由度的运动。
具体地，作业模块6包括海底适应性集矿器(图中未示出)、吸水管61和多个进矿口62，多个进矿口62设置在集物箱2的前部，且与集物箱2相连通，海底适应性集矿器经吸水管61与进矿口62相连接。进矿口62上还设有伸缩调节机构，伸缩调节机构与吸水管61相连接，且用于调节吸水管61的伸缩长度。本发明中的伸缩调节机构能将适应性集矿器精确投送到指定位置，防止吸水管61的缠绕。本实施例中，伸缩调节机构可以为复位弹簧等现有技术中常规控制伸缩长度的机构。推进机构7包括对称设置在集物箱2尾部两侧的螺旋桨71，两个螺旋桨71还分别与两个驱动电机72相连接。
本发明的作业模块6和推进机构7的作用如下：1)、推进机构7为机器人的运动提供动力，以及为作业模块6的矿石采集与吸取提供抽吸力。2)、作业模块6用于储存来自海底适应性集矿器采集的矿石。3)、吸水管61可根据实际作业需求进行拆卸，直接将所需矿石吸入集物箱2或是将螺旋桨71反转排出污水。
优选地，集物箱2的内部还设有滤网21。滤网21可以防止矿石进入集物箱2尾部损坏螺旋桨71；通过改变滤网2材料的种类和目数，能够实现不同种类的矿石或是其他海底资源的采集。
具体地，集物箱2的前部还设有水平平台22，水平平台22上设有机械手臂23，机械手臂23具有六个自由度，且机械手臂23的悬臂端连接有机械爪和/或照相机。
本发明中，机械手臂23的作用如下：1)、夹持照相机，进行全方位、大角度水下摄影。2)、通过机械爪清理障碍物。
优选地，集物箱2上装有定位仪24以及姿态传感器25，定位仪24可以实时向控制机构4反应机器人所处的位置以及运动速度；姿态传感器25内置三轴陀螺仪和三轴加速度计，可以及时反映机器人的运动姿态，加速度以及角加速度。
本发明的采用上述多功能水下机器人装置的工作方法，其包括以下步骤：
S1、将所有浮力调整气囊的双向气阀35打开进气，使机器人装置的浮力略小于重力；机器人能够以较小的速度下潜。
S2、调整机器人装置的下潜速度和姿态；
S3、启动螺旋桨，通过控制螺旋桨71的正转、反转或是差速转动，实现机器人装置的前进、后退以及转向，直到到达指定海底矿区；
S4、到达海底后，驱动电机关闭，螺旋桨停止转动，启动行走机构，利用履带轮装置使机器人在海床能够连续、稳定地前进；
S5、启动机械手臂23，控制机械爪把覆盖在矿石上的石块等杂物夹起放于指定位置；
S6、矿区杂物清理完毕后，将吸水管61与海底适应性集矿器投放到指 定位置，启动驱动电机72，使螺旋桨71高速旋转形成强大的抽吸力，将矿物吸入集物箱2内；对于颗粒较大，用海底适应性集矿器难以吸取的矿物，工作前可将吸水管61拆卸，工作时直接用机械手夹持待采集物，放于进矿口62附近，再松开机械爪，使得矿物被吸入集物箱2。
S7、矿浆泵将矿物输送至中继仓，完成一个工作循环或关闭作业系统上潜。
下潜过程中，由于海水的压力不断增大，需要适当打开双向气阀35进气，使得气囊本体31的体积能够保持一个定值，确保机器人装置能够持续下潜，下潜的速度由定位仪24来确定，以及根据姿态传感器25反应的纵倾与横倾角度适当加大部分浮力调整气囊的进气量，让机器人装置重回正浮状态。
实施例二：
本实施例中的行走机构与实施例一的不同之处在于：机器人左右两侧的履带各自分为前后两个单元。
本实施例具有与实施例一同样的设计思路和结构，并且能够实现实施例一的所有功能。在此基础之上，本实施例还具有附加的设计，具体阐述如下：
参见图7、10、12，所述机器人底盘中心为下大上小的喇叭口形状，集物箱2呈环状结构，环状结构内有柱状空间，柱状空间的上端为进水口，下端为出水口，进水口处设置螺旋桨8，螺旋桨可将水流打入柱状空间内；柱状空间的下方固定设置略微翘起的挡板1018，在挡板1018的阻挡作用下，出水口出水方向会紧贴着小曲率的底盘流出，从而在底盘和海泥之间形成一层水膜。这样底盘既可以承受压力，减小压陷，又大大降低行进阻力。 相比于实施例一以及本实施例均采用的“在履带两侧增加泥橇板结构”，这样进一步利用了水流的附壁作用，所谓“附壁作用”是指：流体(水流或气流)有离开本来的流动方向，改为随着凸出的物体表面流动的倾向。当流体与它流过的物体表面之间存在表面摩擦时，只要曲率不大，流体会顺着物体表面流动。如此，具有进一步的优点：简化机器人结构、减小机器人宽度使其结构强度和更容易通过狭窄区域。同时，集物箱排出的水用于在喇叭口泥橇板表面形成稳定水膜，上述设计是一种巧妙设计优化了系统能源消耗。
螺旋桨8具有“一桨多用”的多项作用和设计考虑：
1)为机器人的浮游提供动力；
2)机器人在海底行进时，一旦发生压陷，螺旋桨可以为机器人提供多方向的推力，使之从软泥中松动而出；
3)布置在机器人中心的螺旋桨不仅可以提供垂向升力，同时因为它被布置在集物箱中心，可以充当集物箱内水泵的作用，通过水流产生的负压，可源源不断地将集物箱内的水向箱外排出，从而为集物管进水端提供辅助抽吸力，来协助抽吸水下的海参、矿粒、各类标本等。可简化机器人结构和制造成本。同时集物箱内设置有滤网将被抽吸物与导管螺旋桨推进器隔离开。保护桨叶的同时也保护被采集物。
在此实施例中，参见图11、12，呈环状的集物箱2内侧壁为滤网21，集物口26设于外侧壁上，集物时，自内侧壁流出的水，在挡板1018的阻挡作用下，水流会紧贴着小曲率的底盘流出，从而在底盘和海泥之间进一步加强所述水膜。
在此实施例中，参见图10、12，挡板1018可自由开合，从而不同程度遮挡出水口和调节出水方向，使得即便在不同的集物箱排水工况下，用于 在机器人底盘和海泥之间进行水射流的水流量保持稳定，从而使水膜的形成质量稳定。
在此实施例中，集物口26设有距离传感器、图像识别传感器、与集物口26连接的集物管内安置有流量计，控制系统通过图像识别后读取被抽吸物体的几何特征，可以识别出其物体属性和类别，从而获知被吸取物的大小、体积，根据识别得到的物体类别，计算出其重量和浮力，根据重量和浮力的差值，获知最小抽吸力；控制系统再通过调节集物管与被抽吸物体的距离以及集物管内部水流流速，进而动态调整不同工况下集物管对被抽吸物的抽吸力，使抽吸力接近物体所需的所述最小抽吸力(重力与浮力差值)，则被抽吸物体刚好可以被吸进集物箱内，从而实现精准抽吸。这样的优化控制方法不仅可以极大降低能耗和对水下环境的扰动，还能保证对被吸取物的采集率，为水下复杂环境中实现抽吸力预测和精准环保作业提供先进技术支撑。附图未对此功能进行展示。
在海底环保是目前需要解决的重要问题，如何实现对海底样本的精准采集，即既保证采集率又减小能源消耗和对海底的扰动是关键技术问题，申请人按照上述方法进行实验，实现了对不同工况下抽吸力的精准预报。具体方法是：采用圆球来模拟被采集物，圆球下端有力传感器，不断改变圆球的直径、集物管的直径、集物管与圆球之间的相对几何位置，建立抽吸力与这些几何参数之间的映射关系，从而获得可以用于实时预报抽吸力大小的抽吸力预报公式。该公式可以为机器人的海底智能精准作业提供支撑，用作机器人优化调节集物管内流速、集物管与圆球之间的相对位置的重要调控依据。
以上两项实施例，实施例二是更为优选的实施例，本领域普通技术人员还可以在此基础上进行各种变换或改进，在不脱离本发明总的构思的前 提下，这些变换或改进都应当属于本发明要求保护的范围之内。

Claims (21)

  1. 一种适应于极稀软地质的可悬浮履带式特种水下作业机器人，其特征在于：
    包括行走机构(103)；所述行走机构(103)是履带泥橇复合式结构，履带两侧固定设有泥橇板结构(105)，泥橇板结构(105)底部高于履带底部并具有拱形板头(1013)；
    所述拱形板头(1013)设有板水射流装置(1015)，所述板水射流装置(1015)向前喷射水，行走机构(103)行进过程中，拱形板头(1013)将水向下压入，被压入的水与喷射水共同在泥橇板结构(105)底部形成“水膜”，减小淤泥阻力。
  2. 如权利要求1所述的可悬浮履带式特种水下作业机器人，其特征在于：所述履带上设有加长的履刺，所述履带行走结构上固定设置对准相邻履刺之间部位的履带水射流装置(1012)，用于冲去相邻履刺之间的污泥。
  3. 如权利要求1所述的可悬浮履带式特种水下作业机器人，其特征在于：还包括支撑横梁(101)、动力机构(102)；支撑横梁(101)两侧设置所述行走机构(3)；支撑横梁连接于履带行走结构内侧面板(1011)上。
  4. 如权利要求3所述的可悬浮履带式特种水下作业机器人，其特征在于：泥橇板结构(105)分别与履带行走结构内侧面板(1011)固定连接。
  5. 如权利要求3所述的可悬浮履带式特种水下作业机器人，其特征在于：所述动力机构(102)由电机水密封箱(1016)和电气箱(1017)构成。
  6. 如权利要求2所述的可悬浮履带式特种水下作业机器人，其特征在于：履带结构包括橡胶履带(106)、履刺(107)、支重轮(108)、驱动齿 轮(109)、导向轮总成(1010)、履带行走结构侧面板(1011)、履带水射流装置(1012)；橡胶履带与履刺(107)连接；支重轮具有多个，且均匀分布，支撑横梁后方电机水密封箱(1016)上，水平焊接两个履带水射流装置(1012)。
  7. 如权利要求2所述的可悬浮履带式特种水下作业机器人，其特征在于：泥橇板结构(105)具有拱形板头、拱形板尾，泥橇板结构(105)侧面具有挡板(1014)，板水射流装置(1015)集成安装在拱形板头上。
  8. 一种权利要求1-7中任意一所述的可悬浮履带式特种水下作业机器人，其特征在于：
    还包括集物箱、浮力机构和控制机构，所述履带行走结构的底部设有行走机构，所述集物箱设置在所述履带行走结构上，且所述集物箱的前部和尾部分别设有作业模块和推进机构，所述作业模块用于采集矿物并输送至所述集物箱中，所述浮力机构包括多个浮力调整气囊，多个所述浮力调整气囊沿所述集物箱的顶部横向对称分布，以及
    所述控制机构分别与所述行走机构、作业模块、推进机构和浮力调整气囊相连接。
  9. 如权利要求8所述的可悬浮履带式特种水下作业机器人，其特征在于：所述浮力调整气囊包括气囊本体和隔膜，所述隔膜设置在所述气囊本体的内部中间位置处，且将所述气囊本体的内腔分割成第一腔体和第二腔体，所述第一腔体和第二腔体上均设有双向气阀，所述双向气阀与所述控制机构相连接。
  10. 如权利要求9所述的可悬浮履带式特种水下作业机器人，其特征在于：所述气囊本体采用尼龙材料制作而成。
  11. 如权利要求8-10任意一项所述的可悬浮履带式特种水下作业机器人， 其特征在于：所述作业模块包括海底适应性集矿器、吸水管和多个进矿口，多个所述进矿口设置在所述集物箱的前部，且与所述集物箱相连通，所述海底适应性集矿器经所述吸水管与所述进矿口相连接。
  12. 如权利要求11所述的可悬浮履带式特种水下作业机器人，其特征在于：所述进矿口上还设有伸缩调节机构，所述伸缩调节机构与所述吸水管相连接，且用于调节所述吸水管的伸缩长度。
  13. 如权利要求12所述的可悬浮履带式特种水下作业机器人，其特征在于：所述推进机构包括对称设置在所述集物箱尾部两侧的螺旋桨，两个所述螺旋桨还分别与两个所述驱动电机相连接，所述集物箱的内部还设有滤网。
  14. 如权利要求8所述的可悬浮履带式特种水下作业机器人，其特征在于：所述集物箱的前部还设有水平平台，所述水平平台上设有机械手臂，所述机械手臂具有六个自由度，且所述机械手臂的悬臂端连接有机械爪和/或照相机。
  15. 如权利要求14所述的可悬浮履带式特种水下作业机器人，其特征在于：所述集物箱上装有定位仪以及姿态传感器，所述姿态传感器包括三轴陀螺仪和三轴加速度计。
  16. 如权利要求8所述的可悬浮履带式特种水下作业机器人，其特征在于：所述机器人底盘中心为下大上小的喇叭口结构，集物箱(2)呈环状结构，环状结构内有柱状空间，柱状空间的上端为进水口，下端为出水口，进水口处设置螺旋桨(8)，螺旋桨可将水流打入柱状空间内；柱状空间的下方固定设置略微翘起的挡板(1018)，在挡板(1018)的阻挡作用下，出水口出水方向会紧贴着小曲率的底盘流出，从而在底盘和海泥之间形成一层水膜。
  17. 如权利要求16所述的可悬浮履带式特种水下作业机器人，其特征在于：呈环状的集物箱(2)内侧壁为滤网(21)，集物口(26)设于外侧壁上，集物时，自内侧壁流出的水，在挡板(1018)的阻挡作用下，水流会紧贴着小曲率的底盘流出，从而在底盘和海泥之间进一步加强所述水膜。
  18. 如权利要求16所述的可悬浮履带式特种水下作业机器人，其特征在于：挡板(1018)可自由拉伸，从而不同程度遮挡出水口和调节出水方向。
  19. 如权利要求17所述的可悬浮履带式特种水下作业机器人，其特征在于：集物口(26)附近设有距离传感器、图像识别传感器、与集物口(26)连接的集物管内安置有流量计，控制系统通过图像识别后读取被抽吸物体的几何特征，可以识别出其物体属性和类别，获知被吸取物的大小、体积，根据识别得到的物体类别和体积，计算出其重量和浮力，根据重量和浮力的差值，获知最小抽吸力；控制系统再通过调节集物管与被抽吸物体的距离以及集物管内部水流流速，进而动态调整不同工况下集物管对被抽吸物的抽吸力，使抽吸力接近物体所需的所述最小抽吸力。
  20. 一种如权利要求8-19中任意一项所述可悬浮履带式特种水下作业机器人的工作方法，其特征在于，包括以下步骤：
    S1、将所有浮力调整气囊的双向气阀打开进气，使机器人装置的浮力略小于重力；
    S2、调整机器人装置的下潜速度和姿态；
    S3、启动螺旋桨，通过控制螺旋桨(71)的正转、反转或是差速转动，实现机器人装置的前进、后退以及转向，直到到达指定海底矿区；
    S4、到达海底后，驱动电机关闭，螺旋桨停止转动，启动行走机构，利用履带轮装置使机器人在海床能够连续、稳定地前进；
    S5、启动机械手臂，控制机械爪把覆盖在矿石上的石块等杂物夹起放于指定位置；
    S6、矿区杂物清理完毕后，将吸水管与海底适应性集矿器投放到指定位置，启动驱动电机，使泵高速旋转形成强大的抽吸力，将矿物吸入集物箱内；布置在集物箱内的螺旋桨高速转动时，可以源源不断地将集物箱内的水向外排出，箱内压强降低，外部的水便会从集物管流入集物箱内。而此时，集物箱内螺旋桨转动的效果可以看做是一个具有储物功能的水泵；
    S7、矿浆泵将矿物输送至中继仓，完成一个工作循环或关闭作业系统上潜。
  21. 如权利要求20所述的机器人装置的工作方法，其特征在于，包括以下步骤：所述步骤S2具体包括：打开双向气阀进气，使得气囊本体的体积能够保持一个定值，确保机器人装置能够持续下潜，下潜的速度由定位仪来确定，以及根据姿态传感器反应的纵倾与横倾角度适当加大部分浮力调整气囊的进气量，让机器人装置重回正浮状态。
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